test_service_capabilities.py

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#!/usr/bin/env python
import rospy
import rosunit
import unittest

from json import loads, dumps

from rosbridge_library.capabilities.advertise_service import AdvertiseService
from rosbridge_library.capabilities.unadvertise_service import UnadvertiseService
from rosbridge_library.capabilities.call_service import CallService
from rosbridge_library.capabilities.service_response import ServiceResponse
from rosbridge_library.protocol import Protocol
from rosbridge_library.protocol import InvalidArgumentException, MissingArgumentException


PKG = 'rosbridge_library'
NAME = 'test_service_capabilities'


class TestServiceCapabilities(unittest.TestCase):

    def setUp(self):
        rospy.init_node(NAME)

        self.proto = Protocol(self._testMethodName)
        # change the log function so we can verify errors are logged
        self.proto.log = self.mock_log
        # change the send callback so we can access the rosbridge messages
        # being sent
        self.proto.send = self.local_send_cb
        self.advertise = AdvertiseService(self.proto)
        self.unadvertise = UnadvertiseService(self.proto)
        self.response = ServiceResponse(self.proto)
        self.received_message = None
        self.log_entries = []

    def local_send_cb(self, msg):
        self.received_message = msg

    def mock_log(self, loglevel, message, _=None):
        self.log_entries.append((loglevel, message))

    def test_advertise_missing_arguments(self):
        advertise_msg = loads(dumps({"op": "advertise_service"}))
        self.assertRaises(MissingArgumentException,
                          self.advertise.advertise_service, advertise_msg)

    def test_advertise_invalid_arguments(self):
        advertise_msg = loads(dumps({"op": "advertise_service",
                                     "type": 42,
                                     "service": None}))
        self.assertRaises(InvalidArgumentException,
                          self.advertise.advertise_service, advertise_msg)

    def test_response_missing_arguments(self):
        response_msg = loads(dumps({"op": "service_response"}))
        self.assertRaises(MissingArgumentException,
                          self.response.service_response, response_msg)

        # this message has the optional fields, with correct types, but not the
        # required ones
        response_msg = loads(dumps({"op": "service_response",
                                    "id": "dummy_service",
                                    "values": "none"}))
        self.assertRaises(MissingArgumentException,
                          self.response.service_response, response_msg)

    def test_response_invalid_arguments(self):
        response_msg = loads(dumps({"op": "service_response",
                                    "service": 5,
                                    "result": "error"}))
        self.assertRaises(InvalidArgumentException,
                          self.response.service_response, response_msg)

    def test_advertise_service(self):
        service_path = "/set_bool_1"
        advertise_msg = loads(dumps({"op": "advertise_service",
                                     "type": "std_srvs/SetBool",
                                     "service": service_path}))
        self.advertise.advertise_service(advertise_msg)

        # This throws an exception if the timeout is exceeded (i.e. the service
        # is not properly advertised)
        rospy.wait_for_service(service_path, 1.0)

    def test_call_advertised_service(self):
        service_path = "/set_bool_2"
        advertise_msg = loads(dumps({"op": "advertise_service",
                                     "type": "std_srvs/SetBool",
                                     "service": service_path}))
        self.advertise.advertise_service(advertise_msg)

        # Call the service via rosbridge because rospy.ServiceProxy.call() is
        # blocking
        call_service = CallService(self.proto)
        call_service.call_service(loads(dumps({"op": "call_service",
                                               "id": "foo",
                                               "service": service_path,
                                               "args": [True]})))

        loop_iterations = 0
        while self.received_message is None:
            rospy.sleep(rospy.Duration(0.5))
            loop_iterations += 1
            if loop_iterations > 3:
                self.fail("did not receive service call rosbridge message "
                          "after waiting 2 seconds")

        self.assertFalse(self.received_message is None)
        self.assertTrue("op" in self.received_message)
        self.assertTrue(self.received_message["op"] == "call_service")
        self.assertTrue("id" in self.received_message)

        # Now send the response
        response_msg = loads(dumps({"op": "service_response",
                                    "service": service_path,
                                    "id": self.received_message["id"],
                                    "values": {"success": True,
                                               "message": ""},
                                    "result": True}))
        self.received_message = None
        self.response.service_response(response_msg)

        loop_iterations = 0
        while self.received_message is None:
            rospy.sleep(rospy.Duration(0.5))
            loop_iterations += 1
            if loop_iterations > 3:
                self.fail("did not receive service response rosbridge message "
                          "after waiting 2 seconds")

        self.assertFalse(self.received_message is None)
        # Rosbridge should forward the response message to the "client"
        # (i.e. our custom send function, see setUp())
        self.assertEqual(self.received_message["op"], "service_response")
        self.assertTrue(self.received_message["result"])

    def test_unadvertise_with_live_request(self):
        service_path = "/set_bool_3"
        advertise_msg = loads(dumps({"op": "advertise_service",
                                     "type": "std_srvs/SetBool",
                                     "service": service_path}))
        self.advertise.advertise_service(advertise_msg)

        # Call the service via rosbridge because rospy.ServiceProxy.call() is
        # blocking
        call_service = CallService(self.proto)
        call_service.call_service(loads(dumps({"op": "call_service",
                                               "id": "foo",
                                               "service": service_path,
                                               "args": [True]})))

        loop_iterations = 0
        while self.received_message is None:
            rospy.sleep(rospy.Duration(0.5))
            loop_iterations += 1
            if loop_iterations > 3:
                self.fail("did not receive service call rosbridge message "
                          "after waiting 2 seconds")

        self.assertFalse(self.received_message is None)
        self.assertTrue("op" in self.received_message)
        self.assertTrue(self.received_message["op"] == "call_service")
        self.assertTrue("id" in self.received_message)

        # Now send the response
        response_msg = loads(dumps({"op": "unadvertise_service",
                                    "service": service_path}))
        self.received_message = None
        self.unadvertise.unadvertise_service(response_msg)

        loop_iterations = 0
        while self.received_message is None:
            rospy.sleep(rospy.Duration(0.5))
            loop_iterations += 1
            if loop_iterations > 3:
                self.fail("did not receive service response rosbridge message "
                          "after waiting 2 seconds")

        self.assertFalse(self.received_message is None)
        # Rosbridge should abort the existing service call with an error
        # (i.e. "result" should be False)
        self.assertEqual(self.received_message["op"], "service_response")
        self.assertFalse(self.received_message["result"])


if __name__ == '__main__':
    rosunit.unitrun(PKG, NAME, TestServiceCapabilities)